JP6935970B2 - Camera device for motorcycles - Google Patents

Description

The present invention relates to a camera device for a motorcycle mounted on a motorcycle or the like, and more particularly to a camera device for a motorcycle capable of photographing a wide range of scenery behind the motorcycle from the rear center to the diagonally rear of the motorcycle. Is.

Conventionally, in a motorcycle, the visibility of the rear-view mirror, which is the blind spot of the rear-view mirror, is poor, so that the safety when changing lanes may become a problem. There is also a need to verify the situation of the accident afterwards by recording the rear view when the accident occurs.

Therefore, in Patent Document 1 below, a technique is proposed in which imaging units (cameras) are installed at two locations on the left and right sides of the rear part of the vehicle body of a motorcycle to improve visibility diagonally behind the vehicle body.

Further, a technique of installing an omnidirectional camera (hemispherical or omnidirectional camera) at a handle position of a motorcycle in order to photograph the surroundings of the motorcycle is proposed in Patent Document 2 below. The technique of Patent Document 2 discloses a technique of detecting the tilt of an omnidirectional camera during shooting by setting a gyro sensor and correcting the tilt of an image shot by the omnidirectional camera.

Utility Model Registration No. 5157113 Japanese Unexamined Patent Publication No. 2005-234224

By the way, a motorcycle has a characteristic that the vehicle body is tilted inward (with a bank angle) and turned while traveling. That is, a motorcycle does not turn with a steering angle on the wheels like a general automobile, but turns with a camber angle on the wheels by tilting the vehicle body to the left and right.

Because of this characteristic, for example, as in Patent Document 1, when imaging units are installed at two locations on the left and right of the rear part of the vehicle body of a motorcycle and the scenery behind the vehicle body is photographed, the image is taken according to the inclination of the vehicle body when turning. The image is skewed. In particular, when shooting diagonally backward, there is a problem that the frame frame is displaced up and down with the inclination of the vehicle body when turning or the like, which makes it difficult to see the image.

In order to deal with such a problem, as in Patent Document 2, a gyro sensor or the like is provided for each imaging unit, and the tilt of the captured image is corrected according to the detection value of the gyro sensor so that the captured image does not tilt. It is conceivable to do so.

However, when two left and right image pickup units are separately installed on the vehicle body and a gyro sensor or the like is provided for each unit, the difference in the installation height of each image pickup unit and the difference in the detection value of each gyro sensor or the like, etc. As a result, there is a possibility that the two captured images on the left and right may be misaligned. If the two left and right captured images are misaligned in this way, then when the two left and right captured images are combined to generate a panoramic image, the two left and right captured images are misaligned at the composited points and the like, and the generated image is distorted. there is a possibility. In particular, since the composite portion is located at the rear center position, there is a risk of feeling uncomfortable when viewing the panoramic image.

The present invention has been made in view of these points, and an object of the present invention is to capture images from two left and right imaging units in a motorcycle camera device provided with two left and right imaging units for photographing diagonally rearward parts of the vehicle body at the rear portion of the vehicle body. However, when the captured image is corrected by a gyro sensor or the like and the two captured images are combined, a motorcycle that can make the generated composite image accurate and precise by preventing the composited part from being misaligned. To provide a camera device for motorcycles.

In order to achieve the object, the present invention is a motorcycle camera device provided with two left and right image pickup units for photographing diagonally rearward parts of the motorcycle body at the rear part of the vehicle body of the motorcycle, and the two image pickup units are combined into one. It is provided in the housing, and one tilt sensor is provided in the housing, and the two captured images taken by the two imaging units are corrected by one tilt information obtained from one tilt sensor. Then, the two corrected images were combined and output as a generated image.

Specifically, the first invention is a camera device for a motorcycle provided with two left and right image pickup units for photographing diagonally rearward of the vehicle body at the rear part of the vehicle body of the motorcycle, and the two left and right image pickup units are positioned at the left and right positions. Based on the tilt information of one housing provided in the housing, one tilt sensor installed inside the one housing, and one housing obtained from the one tilt sensor, the two left and right image pickup units. An image correction means for correcting each of the two captured images captured from the image, an image composition means for synthesizing the two images corrected by the image correction means, and an image for outputting the image synthesized by the image composition means as a generated image. It is characterized by having an output means.

According to this configuration, two captured images are captured from two left and right imaging units provided in one housing, and tilt information of the housing is detected from one tilt sensor installed in the housing to correct the image. The means performs correction of the two captured images based on the tilt information, and the image synthesizing means synthesizes the corrected two captured images. Then, the combined image is output as a generated image by the image output means.

That is, first, by providing the two left and right imaging units in one housing, the position of each imaging unit is surely determined, so that it is not necessary to consider the difference in the installation position and height of each imaging unit. In addition, since the two captured images captured separately on the left and right are corrected based on the tilt information of one tilt sensor, the left and right captured images are always corrected with the same tilt information and finally combined. ..

Therefore, when capturing images from the two left and right imaging units, it is possible to capture the two left and right captured images without considering the installation position of each imaging unit. Further, since the two left and right captured images are always corrected with the same tilt information, no deviation or the like occurs at the combined portion even when the two left and right captured images are combined.

Here, as long as one tilt sensor outputs one tilt information, an actual sensor unit may be configured by a plurality of actual sensor units. For example, the acceleration sensor and the gyro sensor may output the tilt information. Further, the tilt information may be output by calculation with one gyro sensor, or the tilt information may be output by calculation with one acceleration sensor.

Further, the generated image output from the image output means may be subsequently displayed by a display means such as a display panel installed on the motorcycle, or may be simply recorded by the recording means. Further, while displaying on the display panel, recording may be performed by a recording means.

Further, the "image" used in the whole specification and the like is a concept including not only a still image but also a moving image.

A second aspect of the present invention is characterized in that a rear photographing unit for photographing directly behind the vehicle body is provided in the housing, and an image directly behind the vehicle body photographed by the rear photographing unit is output from the image output means. Is to be.

According to this configuration, the rear photographing unit is installed in the housing, the rear photographing unit photographs the image directly behind the vehicle body, and the image output means outputs the image directly behind the vehicle body.

Therefore, the rear image directly behind the vehicle body, which does not require compositing, can be output from the image output means separately from the generated image to be composited and output.

Therefore, even if the generated image output by combining the two images is disturbed due to a failure of the tilt sensor or the like, the rear image directly behind that does not require composition can be output separately, so that an accurate rear image can be output. It is possible to surely prevent the problem that the image cannot be output.

In the third invention, the motorcycle is provided with a rear-view mirror at a position above the steering wheel, and the housing is provided so that the installation height of the image pickup unit substantially matches the installation height of the rear-view mirror. It is characterized by the installation of.

According to this configuration, the height at which the image of the imaging unit is captured substantially coincides with the height position of the rear-view mirror.

For this reason, the viewpoint position of the image captured by the imaging unit almost matches the viewpoint position of the rear-view mirror, so that the rider who checks the image while driving can see the generated image in almost the same way as the image seen from the rear-view mirror. You can see it without any discomfort.

Therefore, the rider can immediately check the rear of the vehicle body without feeling any discomfort even if he / she visually recognizes the generated image while visually recognizing the rear-view mirror while driving.

In the fourth invention, the housing is installed so that the center in the width direction of the housing and the center in the width direction of the motorcycle are aligned with each other.

According to this configuration, the housing is set so that the center in the width direction of the housing coincides with the center in the width direction of the motorcycle, so that the tilt of the tilt sensor and the tilt state of the motorcycle are ensured. Can be matched to. In addition, when the motorcycle is turning and the housing is tilted, the amount of vertical movement of the left and right ends of the housing is the same on the left and right, so it is possible to match the images captured by the imaging unit on the left and right. can.

Therefore, since the tilt angle of the motorcycle can be detected more accurately, it is possible to accurately correct the captured image by the correction means, and the image capture and the like can be matched on the left and right, so that the left and right can be matched. Even if the captured images are combined, the combined image can be visually recognized without any discomfort.

As described above, according to the present invention, when capturing images from the two left and right imaging units, it is possible to capture the two left and right captured images without considering the installation position of each imaging unit. Further, since the two left and right captured images are always corrected with the same tilt information, no deviation or the like occurs at the combined portion even when the two left and right captured images are combined.

Therefore, in a motorcycle camera device equipped with two left and right shooting units that shoot diagonally rearward of the vehicle body at the rear of the vehicle body, the captured images captured from the two left and right imaging units are corrected by tilt information, and the two captured images are combined. In this case, the generated composite image can be made accurate and precise by preventing the composited portion or the like from being displaced.

It is an overall side view of the motorcycle with the camera device for motorcycles which concerns on Embodiment 1 of this invention attached. FIG. 5 is an overall plan view of a motorcycle with the camera device of the first embodiment attached. It is a figure which looked at the rear box of the camera apparatus of Embodiment 1 from the rear. It is a top view which showed the arrangement relation of the rear box of the camera apparatus of Embodiment 1. FIG. It is a system block diagram of the camera apparatus of Embodiment 1. FIG. It is a control flow diagram which concerns on the rear box of the camera apparatus of Embodiment 1. It is a figure which shows the example of the multi-image displayed on the display monitor of the camera apparatus of Embodiment 1. FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The following description of preferred embodiments is merely exemplary and is not intended to limit the invention, its applications, or its uses.

(Embodiment 1)
FIG. 1 is an overall side view of a motorcycle with the motorcycle camera device according to the first embodiment of the present invention attached, and FIG. 2 is an overall plan view of the motorcycle with the motorcycle camera device attached. FIG. 3 is a rear view of the rear box of the motorcycle camera device, and FIG. 4 is a plan view showing the arrangement of the rear boxes. FIG. 5 is a system block diagram of the motorcycle camera device, FIG. 6 is a control flow diagram related to the rear box of the motorcycle camera device, and FIG. 6 is displayed on the display monitor of the motorcycle camera device. It is a figure which shows the example of the multi-image.

First, the overall configuration of the motorcycle camera device T of the present embodiment and the arrangement position of each element will be described with reference to FIGS. 1 and 2. The motorcycle camera device T of the present embodiment is located at the front end of the motorcycle M, the rear box 2 installed at the rear end of the motorcycle B, and the front position of the fuel tank Ma. It includes a display monitor 3 to be installed and a power hub unit 4 to be installed in the center of the motorcycle M.

The above-mentioned front box 1 is installed at a position above the headlamp Mc of the front cowl Mb of the motorcycle M, and as will be described later, a camera unit as two left and right shooting units captures the scenery in front of the motorcycle M as an image. It is configured to capture.

The above-mentioned rear box 2 is installed on the upper rear side of the tandem seat Md of the motorcycle M, and as will be described later, the scenery behind the vehicle body is captured as an image by the camera units as a total of three shooting units on the left, right, and center. It is configured in. The detailed structure will be described later.

Further, the installation position of the rear box 2 is set to substantially the same position as the height position of the rearview mirror Mf installed above the handle Me of the motorcycle M, as shown by the alternate long and short dash line in FIG. ing. By setting in this way, the height at which the image of the camera unit of the rear box 2 is captured can be substantially matched with the height position of the rear-view mirror Mf.

The display monitor 3 described above is installed on the upper front side of the fuel tank Ma near the meter unit Mg in the center of the steering wheel Me, and is configured to display a photographed image or the like photographed by the rear box 2 or the like. .. In this embodiment, the display monitor 3 is set separately from the meter unit Mg, but a liquid crystal panel or the like may be provided in the meter unit Mg and integrally provided in the meter unit Mg.

The power hub unit 4 described above is installed under the rider seat Mh in the center of the motorcycle M, and receives power from the battery Bt to supply power to the front box 1, the rear box 2, and the display monitor 3. It is configured to distribute and supply and exchange information such as image information with the front box 1, the rear box 2, and the display monitor 3.

Although not shown in FIGS. 1 and 2, the components 1, 2, 3 and 4 of the camera device T are connected by various wirings for power supply and information transmission.

Next, the structure of the rear box 2 will be described in detail with reference to FIGS. 3 and 4. The rear box 2 is composed of a thin and horizontally long box-shaped casing 20, and lenses of the three camera units are provided on the side wall of the casing 20.

First, the central lens 21 of the central camera unit is installed in the center of the rear side wall 20a of the casing 20. Further, the right lens 22 of the right camera unit is installed on the right side wall 20b of the casing 20, and the left lens 23 of the left camera unit is installed on the left side wall 20c of the casing 20. A mounting seat S is provided on the bottom wall 20d of the casing 20.

Of these, as shown in FIG. 4, the central lens 21 is composed of a wide-angle lens having a shooting angle of view of about 180 °, and is installed so that the center lens 21 can shoot at an angle of view centered on the rear center of the vehicle body ( The area of the shooting angle of view is shown by the diagonal line hatching of C).

The right lens 22 is also composed of a wide-angle lens having a shooting angle of view of about 180 °, and is installed so that the right side of the vehicle body can be photographed. However, since the right side wall 20b installed as shown in FIG. 4 is slightly inclined to the rear side (about 15 °), it is installed so that the angle of view centered on the diagonally right rear position can be taken. (The area of the shooting angle of view is indicated by the dot hatching of A).

The left lens 23 is also composed of a wide-angle lens having a shooting angle of view of about 180 °, and is installed so that the left side of the vehicle body can be photographed. Further, since the left wall 20c installed as shown in FIG. 4 of this left lens 23 is also slightly tilted rearward (about 15 °), it is possible to shoot at an angle of view centered on the diagonally left rear position. (The area of the shooting angle of view is shown by the dot hatching of B).

In this way, by installing the center lens 21, the right lens 22, and the left lens 23 on the rear box 2, the installation positions of the lenses 21, 22, and 23 are determined, and each lens is determined. When the captured images are combined and combined in 21, 22, and 23, the combined image can be generated without considering the deviation such as the assembly error of the installation position.

Further, as shown in FIG. 4, since the three lenses 21, 22, and 23 each have a shooting angle of view of about 180 °, it is assumed that the respective lenses 21, 22, and 23 are installed on different side walls of the casing 2. However, it is possible to partially overlap the rear part of the vehicle body.

Further, as will be described later, an image sensor corresponding to each lens 21, 22, 23 is installed inside the casing 20 of the rear box 2. This image sensor is configured to convert optical image information into electronic image information.

Further, a plurality of ASICs (Application Specific Integrated Circuits) for arithmetically processing captured images are also installed inside the casing 20 of the rear box 2.

Each camera unit is composed of these lenses 21, 22, 23, an image sensor, and an ASIC.

Further, as will be described later, an acceleration sensor and a gyro sensor, which are tilt sensors for detecting the tilt of the rear box 2, are installed inside the casing 20 of the rear box 2. The accelerometer is configured to determine the orientation of the rear box 2 from the direction of gravity, and the gyro sensor is configured to detect how fast the rear box 2 is rotating. Then, it is configured to detect how much the rear box is tilted based on the detection information of the acceleration sensor and the gyro sensor.

Then, as shown in FIG. 4, the rear box 2 is installed at the rear end of the motorcycle M so that the center Kp in the width direction of the casing 20 coincides with the center Mp in the width direction of the motorcycle M. There is. Since it is installed in this way, the inclination of the inclination sensor and the inclination state of the motorcycle M can be surely matched.

In addition, although not shown, the rear box 2 is provided with various parts constituting the camera unit.

Next, the system configuration of the motorcycle camera device of the present embodiment will be described with reference to the system block diagram of FIG.

As shown in FIG. 5, a right lens 11 and a left lens 12 are installed in the front box 1, and the front of the vehicle body is photographed by the respective lenses 11 and 12, respectively. Each of the lenses 11 and 12 is composed of a zoom lens, and the shooting angle of view can be freely switched from enlargement to reduction (wide-angle to telephoto). Image sensors 13 and 14 are connected to the lenses 11 and 12, respectively. The image sensors 13 and 14 are configured to convert each optical photographing information into electronic photographing information.

Then, these image sensors 13 and 14 are connected to the ASIC (1) 15. In this ASIC (1) 15, image processing such as HDR processing (High Dynamic Range Rendering) is performed on the shooting information (image information) captured by each of the image sensors 13 and 14, and an appropriate forward image is generated. I am trying to output.

In the first embodiment, one ASIC (1) 15 performs two left and right image processing, but two ASICs are set and two left and right image processing are performed for each ASIC. Is also good.

Further, in the first embodiment, the vehicle speed sensor Vs captures the vehicle speed information of the motorcycle M and transmits it to the front box 1. This is to switch the zoom magnification of the right lens 11 and the left lens 12 composed of the zoom lens according to the vehicle speed. For example, at low speeds, moving the zoom magnification of the zoom lens in the decreasing direction (wide-angle direction) makes it easier to check the surrounding conditions, while at high speeds, the zoom magnification of the zoom lens increases in the increasing direction (telephoto). By moving it in the direction), it is possible to make it easier to see changes in the distance immediately.

The vehicle speed information of the vehicle speed sensor Vs may be transmitted to the rear box 2 as shown by the alternate long and short dash line. When the transmission is performed to the rear box 2 in this way, control according to the vehicle speed may be performed on the rear image.

For example, when the vehicle speed is lower than a predetermined vehicle speed, the tilt control by the electronic gimbal described later may be stopped and the image may be output (recorded) in a tilted state as it is. The reason why the vehicle body tilts at low speed is that it is possible that the motorcycle has fallen, and it is rather desirable to accurately record the fallen state.

Further, an SD card (Secure Digital) 17 is connected to the output wiring 16 of the ASIC (1) 15, and when a rider or the like operates the recording SW18 to select a recording mode, the SD card (1) 15 outputs the data. The front image of the motorcycle M is recorded on the SD card 17.

The output wiring 16 of the ASIC (1) 15 exits from the front box 1 and is connected to the hub 41 of the power supply hub unit 4.

A right lens 22, a left lens 23, and a center lens 21 are installed in the rear box 2, and the respective lenses 21, 22, and 23 are used to photograph the rear of the vehicle body. These lenses 21, 22, and 23 are composed of general wide-angle lenses, and as described above, can shoot at an angle of view of about 180 °. Image sensors 24, 25, and 26 are connected to the lenses 21, 22, and 23, respectively. In the image sensors 24, 25, and 26, as described above, each optical photographing information is converted as electronic photographing information.

Then, the ASIC (2) 27 is connected to the image sensors 25 and 26 of the right lens 22 and the left lens 23. In this ASIC (2) 27 as well, as in the ASIC (1) 15, image processing such as HDR processing is performed on the shooting information (image information) captured by the image sensors 25 and 26, and the motorcycle M is slanted to the left and right. The rear image is properly generated and output.

Further, in the rear box 2, a tilt sensor 28 including an acceleration sensor 28a and a gyro sensor 28b is installed. As described above, the acceleration sensor 28a and the gyro sensor 28b determine the orientation of the rear box 2 by the acceleration sensor 28a, and the gyro sensor 28b rotates the rear box 2 at what speed. It is configured to detect the inclination of the rear box 2 by detecting whether or not the rear box 2 is tilted.

The tilt sensor 28 including the acceleration sensor 28a and the gyro sensor 28b is connected to the ASIC (3). An electronic gimbal SW30 is connected to the ASIC (3) 29. When the electronic gimbal SW30 is operated by a rider or the like to turn on the operation, the tilt of the image is corrected and the gimbal function (the function of maintaining the horizontal state of the image) is exhibited.

The ASIC (3) 29 is connected to the ASIC (2) 27, and the left and right oblique rear images output from the ASIC (2) 27 are processed. Specifically, when the left and right oblique rear images are tilted due to the tilt of the rear box 2, the tilt of the image is corrected based on the tilt information from the tilt sensor 28. This tilt correction control will be described later.

Further, the ASIC (3) 29 also performs a process of synthesizing the left and right oblique rear images in the left and right directions to generate a panoramic image.

On the other hand, the ASIC (4) 31 is connected to the image sensor 24 of the central lens 21. Similar to the ASIC (2) 27, the ASIC (4) 31 performs image processing such as HDR processing on the shooting information (image information) captured by the image sensor 24, and obtains an appropriate image of the rear center of the motorcycle M. It is generating.

The ASIC (4) 31 is further connected to the ASIC (3) 29, and an image-processed rear center image is added to the left and right diagonal rear images and panoramic images output from the ASIC (3) 29. It is designed to generate multi-images.

Then, the SD card 33 is connected to the output wiring 32 of the ASIC (4) 31, and when the recording SW34 is operated and the recording mode is selected, the image output from the ASIC (4) 31 is displayed in the SD. It is configured to be recorded on the card 33.

The power supply hub unit 4 includes a power supply circuit 42 and a hub 41, and the power supply circuit 42 supplies electric power from the motorcycle-side battery Bt to the front box 1, the rear box 2, and the hub 41. It is configured in. Further, the hub 41 receives the output image information from the ASIC (1) 15 of the front box 1 and the output image information from the ASIC (4) 31 of the rear box 2, and displays these image information on the display monitor 3. Is configured to be transmitted to the motorcycle side control unit Bc.

The display monitor 3 is configured to display a multi-image or the like based on image information or the like sent from the hub 41.

As described above, the system of the motorcycle camera device T of the first embodiment is configured in this way.

Next, the control flow of the motorcycle camera device T of the first embodiment will be described with reference to the control flow diagram of FIG. Here, the control flow particularly related to the rear box 2 will be described.

First, in S1, the image sensor 25 captures an obliquely right rear image from the right lens 22 of the rear box 2. The right oblique rear image is a landscape image of the area A shown in FIG.

Next, in S2, the image sensor 26 captures the left oblique rear image from the left lens 23 of the rear box 2. The right oblique rear image is a landscape image of the area B shown in FIG.

Next, in S3, the right oblique rear image and the left oblique rear image captured in S1 and S2 are subjected to image processing in the ASIC (2) 27. This image processing is image processing such as HDR processing as described above.

After that, in S4, the tilt signal of the rear box 2 is output from the acceleration sensor 28a and the gyro sensor 28b. This tilt signal is output as a value such as a tilt angle based on the tilt of the rear box 2 because the rear box 2 is also tilted when the vehicle body is tilted inward when the motorcycle M is turning.

Then, when the electronic cymbal SW30 is operated in S5 and the electronic gimbal signal is received, the right diagonal rear image and the left diagonal rear image are displayed in the ASIC (3) 29 according to the tilt signal output in S4. To correct. Specifically, when the motorcycle M is turning, two images, a right diagonal rear image and a left diagonal rear image, which are tilted due to the tilt of the vehicle body, are corrected based on one tilt signal.

Then, in S6, in the ASIC (3) 29, the right oblique rear image and the left oblique rear image after the tilt correction are used, and these two images are combined in the left-right direction to obtain a rear panoramic image of the rear of the vehicle body. To generate.

It is desirable that the tilt signal output in S4 accurately detects the tilt of the actual vehicle body (rear box) and is output, but there may be some error. This is because even if it is an error value, the corrected right diagonal rear image and the left diagonal rear image are always corrected with the same value (one value), so that the corrected right diagonal rear image and the right diagonal rear image are always corrected in S6. This is because even when the diagonally left rear image is combined, the composited portion and the like are not disturbed.

If the tilt signals are corrected by different tilt signals, a difference will occur in the tilt signals, and two images having different degrees of tilt correction will be combined on the left and right. When images with different degrees of tilt correction are combined in this way, there is a risk that distortion may occur in the vicinity of the combined part of the rear panoramic image, and the horizontal reference line extending in the horizontal direction also has a bending point at the combined part. There is a risk of

In the first embodiment, the right oblique rear image and the left oblique rear image to be corrected are always corrected by the same value (one value) so that such a problem does not occur.

Then, in S7, the rear center image is captured in the image sensor 24 from the center lens 21 of the rear box 2. The right oblique rear image is a landscape image of the area C shown in FIG.

Then, in S8, the rear center image is image-processed by ASIC (4) 31. This image processing is an image processing such as the HDR processing described above.

Then, in S9, in the ASIC (4) 31, the right diagonal rear image and the left diagonal rear image corrected by the ASIC (3) 29, the rear panoramic image combined with the rear panoramic image, and the image-processed rear center image are displayed. A multi-image is generated with a total of four images.

Then, in S10, when the recording SW34 is activated and the recording signal is received, the multi-image generated in S9 is recorded on the SD card 33. That is, a plurality of images of the rear of the vehicle body in the viewing direction are stored in the SD card 33 as a multi-image.

Finally, in S11, such a generated multi-image is output to the display monitor 3 and the motorcycle side control unit Bc via the hub 41.

The motorcycle camera device T of the first embodiment is controlled by such a series of control flows. The control flow related to the front box 1 is not directly related to the present invention and will not be described in detail.

An example of a display such as a multi-screen that is controlled in this way and output to the display monitor 3 is an image 300 of the screen shown in FIG. 7.

Of the images 300 on this screen, the image 301 displayed as "Front" in the upper center is the front image output from the ASIC (1) of the front box. This is an image of the landscape that is almost the same as the landscape that the rider sees. According to this image, it can be seen that a passenger car is running in front of the motorcycle M.

The image 302 displayed as "Panora ma" on the lower side thereof is a rear panoramic image output from the rear box 2. This is a panoramic image of the rear of the motorcycle M from left to right, which cannot normally be seen by the rider without looking back. According to this image, it can be seen that two men are walking on the sidewalk behind the motorcycle M, but no passenger car or the like is running behind.

In addition, this image 302 is displayed in an inverted state so that the rider does not feel a sense of discomfort while riding so that the scenery and the scenery seen by the rearview mirror Mf do not deviate from each other. ..

Further, the rear panoramic image 302 is an image in which the right oblique rear image and the left oblique rear image are combined as described above, but the combined portion extending in the vertical direction at the center position is also combined without any disturbance.

Then, on the lowermost side, three images are displayed as "Left" from the left, "Rear" in the center, and "Light" on the right. The image 303 displayed as "Left" is a left diagonal rear image, the image 304 displayed as "Real" is a rear center image, and the image 305 displayed as "Right" is a right diagonal rear image. Is. These three images 303, 304, and 305 are images taken at a wide angle, respectively, and adjacent images are partially overlapped and displayed.

Similar to the rear panoramic image 302, these three images 303, 304, and 305 are also displayed in an inverted state so that the rider does not feel a sense of discomfort while riding.

Of these three images, the left diagonal rear image 303 of "Left" and the right diagonal rear image 305 of "Right" are tilt signals when the electronic cymbal SW30 is operated, as described above. It is corrected according to. Therefore, even if the vehicle body of the motorcycle M is tilted, the display is maintained in a horizontal state.

On the other hand, the rear center image 304 of "Real" is not corrected according to the tilt signal even when the electronic cymbal SW30 is activated. Therefore, when the vehicle body of the motorcycle M is tilted, it is displayed as it is tilted. Will be done.

In this way, by not performing the tilt correction on the rear center image 304 of the "Real", it is possible to give a sense of reality of riding the motorcycle M when checking the image (video) at a later date. In addition, since image processing such as tilt correction is not performed, when verifying the image after an accident, the actual tilt of the motorcycle M can be recorded as it is, so it should be recorded as the most reliable image. Can be done.

As described above, since the first embodiment is configured, the following effects can be obtained.

First, in the first embodiment, two left and right camera units (22, 23) are provided on the right side wall 20b and the left side wall 20c of the casing 20 of the rear box 2, and the acceleration sensor 28a and the gyro sensor are provided in the rear box 20. One tilt sensor 28 composed of 28b is provided, and based on the tilt information of one rear box 2 acquired from the tilt sensor 28, the images taken by the two left and right camera units (22, 23), that is, diagonally to the left. The rear image and the diagonally right rear image are tilt-corrected by ASIC (3) 29, and the two images tilt-corrected by the ASIC (3) 29 are combined to generate a rear panoramic image. Then, the rear panoramic image is output by the ASIC (4) to the motorcycle side control unit Bc via the SD card 33, the display monitor 3, and the hub 41.

As a result, first, by providing the two left and right camera units (22, 23) in one casing 20, the positions of the respective camera units (22, 23) are surely determined, so that each camera unit (22, 23) There is no need to consider the difference in the installation position and height of the camera.

Further, since the two captured images captured separately on the left and right, that is, the left diagonal rear image and the right diagonal rear image are corrected based on the tilt information of one tilt sensor 28, the left and right captured images are always corrected with the same tilt information. It will be finally synthesized.

Therefore, when capturing images from the two left and right camera units (22, 23), the two left and right captured images can be captured without considering the installation position of each camera unit (22, 23). Further, since the two left and right captured images are always corrected with the same tilt information, no deviation or the like occurs at the combined portion even when the two left and right captured images are combined.

Therefore, in the motorcycle camera device T provided with the camera units (22, 23) for photographing the rear part of the vehicle body, the captured images captured from the two left and right camera units (22, 23) are corrected by the tilt information. When synthesizing two captured images, it is possible to make the generated composite image accurate and precise by preventing the composited portion or the like from being displaced.

In the first embodiment, the tilt sensor 28 is composed of the acceleration sensor 28a and the gyro sensor 28b, but the tilt sensor is not limited to this, and for example, one gyro sensor is used to output tilt information by calculation. Alternatively, the tilt information may be output by calculation with one acceleration sensor.

Further, in the first embodiment, a central camera unit (center lens 21) for photographing directly behind the vehicle body is provided in the center of the rear side wall 20a of the casing 20 of the rear box 2, and the image is taken by the central camera unit (21). The image directly behind the vehicle body is configured to be output to the motorcycle side control unit Bc by the ASIC (4) via the SD card 17, the display monitor 3, and the hub 41.

As a result, the rear image directly behind the vehicle body, which does not require composition, can be output separately from the rear panoramic image that is combined and output.

Therefore, even if the rear panoramic image output by combining the left and right images is disturbed due to a failure of the tilt sensor 28 or the like, the image directly behind that does not require composition can be output separately, so that an accurate rear image can be obtained. It is possible to surely prevent the problem that the output cannot be performed. In particular, since this rear image is not subjected to image processing such as tilt correction, the actual tilt of the motorcycle M can be recorded as it is when the image is verified after the accident, so that the image is recorded as the most reliable image. Can be left.

Further, in the first embodiment, the rear box 2 is installed so as to substantially match the installation height of the rearview mirror Mf.

As a result, the height at which the images of the camera units (21, 22, 23) of the rear box 2 are captured almost coincides with the height position of the rear-view mirror Mf.

Therefore, the viewpoint position of the image captured by the camera unit (21, 22, 23) of the rear box 2 substantially matches the viewpoint position of the rear-view mirror Mf, so that the rider who confirms the image while driving is output. The image can be visually recognized without any discomfort in almost the same manner as the image seen from the rear-view mirror Mf.

Therefore, even if the rider visually recognizes the output image while visually recognizing the rear-view mirror Mf during traveling, the rider can immediately confirm the rear of the vehicle body without feeling any discomfort between the two.

Further, in the first embodiment, the casing 20 of the rear box 2 is installed so that the center Kp of the casing 20 of the rear box 2 in the width direction and the center Mp of the motorcycle M in the vehicle width direction coincide with each other (see FIG. 4). ing.

As a result, the inclination of the inclination sensor 28 installed in the casing 20 of the rear box 2 and the inclination state of the motorcycle M can be surely matched. Further, when the motorcycle M turns and the rear box 2 is tilted, the amount of vertical movement of the left and right ends of the casing 20 is the same on the left and right, so that the images of the left and right camera units (22, 23) are captured. Etc. can be matched on the left and right.

Therefore, since the tilt angle of the motorcycle M can be detected more accurately, the tilt correction of the captured image can be performed accurately, and the image capture and the like are also matched by the left and right camera units (22, 23). Therefore, even if the captured left and right captured images are combined, the combined image can be generated without any discomfort.

(Other embodiments)
Although the present invention has been described above in the first embodiment, the present invention is not limited to the first embodiment.

In the first embodiment, the motorcycle camera T provided with the front box 1 has been described, but the motorcycle camera T may be configured only with the rear box 2 without the front box 1.

Further, since the effect of the present invention can be obtained as long as the rear box 2 is provided with two left and right camera units (lenses) (22, 23), the motorcycle camera T is the rear box 2. It may be composed of two left and right camera units (22, 23).

In addition, the structure may be changed or added as long as it does not deviate from the gist of the invention.

As described above, the camera device for a motorcycle according to the present invention includes a camera unit installed at the rear of the vehicle body of the motorcycle, and can automatically correct the inclination in consideration of the inclination of the vehicle body during turning. It is useful in motorcycle camera devices.

T ... Motorcycle camera device M ... Motorcycle 2 ... Rear box 20 ... Casing (housing)
21 ... Center lens 22 ... Right lens 23 ... Left lens 28 ... Tilt sensor 28a ... Accelerometer 28b ... Gyro sensor 29 ... ASIC (3)
30 ... ASIC (4)

Claims (4)

It is a camera device for motorcycles equipped with two left and right imaging units that photograph diagonally behind the vehicle body at the rear of the body of the motorcycle.
One housing in which the two left and right imaging units are provided at the left and right positions,
One tilt sensor installed inside the one housing and
An image correction means for correcting each of the two captured images captured from the two left and right imaging units based on the tilt information of one housing acquired from the one tilt sensor.
An image synthesizing means for synthesizing two images corrected by the image correcting means, and an image synthesizing means.
An image output means that outputs an image synthesized by the image composition means as a generated image, and an image output means.
A camera device for motorcycles, which is characterized by being equipped with. The first aspect of claim 1, wherein a rear photographing unit for photographing the rear portion of the vehicle body is provided in the housing, and an image directly behind the vehicle body photographed by the rear photographing unit is output from the image output means. Camera device for motorcycles. The motorcycle is provided with a rear-view mirror above the steering wheel.
The camera device for a motorcycle according to claim 1 or 2, wherein the housing is installed so that the installation height of the image pickup unit substantially matches the installation height of the rear-view mirror. The camera device for a motorcycle according to any one of claims 1 to 3, wherein the housing is installed so that the center in the width direction of the housing and the center in the width direction of the motorcycle coincide with each other.

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